JP2012148373A - Apparatus and method for supplying shaft-shaped component - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus and a method for supplying a shaft-shaped component which can simplify the configuration of the apparatus and supply the shaft-shaped component while aligning them in a predetermined direction when the direction of the shaft-shaped component is not a predetermined direction.SOLUTION: The apparatus for supplying the shaft-shaped component includes a cylindrical member 20 having a cylindrical path 21 through which a bolt 1 passes, a cam mechanism 50 for opening and closing the cylindrical path, and a switching mechanism 60. The cam mechanism includes first to third shutters 51 to 53. Each of the first to third shutters has a closing area and an opening area. When the head of the bolt directs upward, the closing area and the opening area make the bolt pass the areas at first timing when the second shutter is switched from the state of locking the head to the opening area. When the head of the bolt directs downward, the closing area and the opening area make the bolt pass through the areas at second timing when the first shutter is switched from the state of supporting the head to the opening area. The switching mechanism makes one of the bolts having passed through the areas at the first timing or the second timing directly pass and makes the other inverted, and then pass.

Description

  The present invention relates to a shaft-shaped component supply apparatus and method. Specifically, when the orientation of the shaft-shaped component supplied through the inside of the cylindrical member is not a predetermined direction, the shaft-shaped component supply device that supplies the shaft-shaped component aligned in the predetermined direction and the shaft shape The present invention relates to a component supply method.

Conventionally, a supply device for supplying a shaft-like component such as a bolt through the inside of a cylindrical member has been proposed. For example, in the case of a bolt, since it is divided into a screw side and a head side along the axial direction, there is a direction in the axial direction. Therefore, when supplying a shaft-like component having a direction such as a bolt, it is supplied in a state in which the direction is aligned in a predetermined direction (see, for example, Patent Document 1).
An apparatus for aligning the orientation of the shaft-shaped component in a predetermined direction has also been proposed (see, for example, Patent Document 2).

JP 2001-87952 A JP-A-4-66412

However, in the case of the supply device described in Patent Document 1, when a bolt is inserted into a cylindrical member, an operation of inserting the bolt in a predetermined direction must be performed.
In the case of the apparatus described in Patent Document 2, it is not a supply apparatus that supplies a shaft-shaped part through the inside of a cylindrical member.
In general, in order to align the orientation of the shaft-shaped component in a predetermined direction, the detection mechanism such as a sensor that detects the orientation of the shaft-shaped component, and the orientation of the shaft-shaped component is reversed when the detection mechanism determines that the direction is reverse. A reversing mechanism is required. Therefore, in general, a supply apparatus including such a detection mechanism and a reversing mechanism has a problem that the configuration of the apparatus is complicated.

  The present invention has been made in view of the above-described problems, and can simplify the configuration of the apparatus. Nevertheless, the orientation of the shaft-like component supplied through the inside of the tubular member is not limited. An object of the present invention is to provide a shaft-shaped component supply device and a shaft-shaped component supply method capable of supplying a shaft-shaped component with its direction aligned in a predetermined direction when the direction is not a predetermined direction.

The shaft-shaped component supply device of the present invention (for example, the shaft-shaped component supply device 10 described later)
Orientation of a shaft-like component (for example, a bolt 1 described later) having a head (for example, a head 1b described later) having a larger diameter than the shaft portion on one end side of the shaft (for example, shaft 1a described later). A shaft-shaped component supply device for supplying while aligning,
A tubular member (for example, a later-described tubular member 20) having a tubular passage (for example, a later-described tubular passage 21) through which the shaft-shaped component passes;
A cam mechanism (for example, a cam mechanism 50 described later) that enters the cylindrical passage from the outside of the cylindrical member to open and close the cylindrical passage;
A switching mechanism (for example, a switching mechanism 60 to be described later) that directly or reversely passes the shaft-shaped component that has passed through the cam mechanism,
The cam mechanism includes first, second, and third plate members (for example, a first shutter 51, a second shutter 52, and a third shutter 53 described later) in order from the downstream side toward the upstream side,
Each of the first to third plate members includes a closed region (for example, closed regions 51a, 52a, and 53a described later) for closing the cylindrical passage, and an open region (for example, described later) for opening the cylindrical passage. The closed regions 51c, 52c, 53c) at predetermined angles along the circumferential direction,
The closed region and the open region of the first to third plate members are:
(1) When the head of the shaft-shaped component is facing upward (for example, a bolt 2 described later), the closed region of the second plate member is the head (for example, a head 2b described later). At the first timing of switching from the locked state to the open region, the shaft-shaped component is passed,
(2) When the head portion of the shaft-shaped component is facing downward (for example, a bolt 3 described later), the closed region of the first plate member is the head (for example, a head portion 3b described later). The shaft-shaped component is configured to pass through at a second timing when switching from the supporting state to the open region,
The switching mechanism is either one of the shaft-shaped component that has passed through the cam mechanism at the first timing or the shaft-shaped component that has passed through the cam mechanism at the second timing (for example, described later). The bolt 2 in the upright posture is passed without changing the posture, and the other (for example, the bolt 3 in the inverted posture described later) is passed after the posture is reversed.
It is characterized by that.

According to the present invention, the configuration of the apparatus can be simplified. Nevertheless, when the orientation of the shaft-like component supplied through the inside of the cylindrical member is not a predetermined direction, the orientation of the shaft-like component is Can be supplied aligned in a predetermined direction.
Since the configuration of the apparatus can be simplified, troubles such as failure are reduced, and the burden of maintenance and the like is reduced.

The shaft-shaped component supply device of the present invention (for example, the shaft-shaped component supply device 110 described later)
A shaft-shaped component supply device for supplying a shaft-shaped component having a head having a diameter larger than that of the shaft portion on one end side of the shaft portion while aligning the orientation thereof,
A cylindrical member (for example, a cylindrical member 120 described later) having a cylindrical path (for example, a cylindrical channel 121 described later) through which the shaft-shaped component passes;
A cam mechanism (for example, a cam mechanism 150 described later) that enters the cylindrical passage from the outside of the cylindrical member to open and close the cylindrical passage;
A switching mechanism (for example, a switching mechanism 160 described later) that directly or reversely passes the shaft-shaped component that has passed through the cam mechanism,
The cam mechanism includes first, second, third, and fourth plate members in order from the downstream side toward the upstream side (for example, a first shutter 151, a second shutter 152, a third shutter 153, and a fourth shutter described later). A shutter 154),
Each of the first to fourth plate members includes a closed region (for example, a closed region 151a, 152a, 153a, 154a described later) that closes the cylindrical passage, and an open region (for example, a closed region that opens the cylindrical passage). A closed region 151c, 152c, 153c, 154c), which will be described later, with a predetermined angle along the circumferential direction,
The closed region and the open region of the first to fourth plate members are:
(1) The shaft portion (for example, a shaft portion 2a described later) of the shaft-like component (for example, a bolt 2 in an upright posture described later) in the upright posture with the head facing upward, and the head portion is directed downward When the shaft part (for example, a later-described shaft part 3a) of the shaft-shaped part (for example, a later-described inverted bolt 3) is engaged (for example, a later-described bolt pair 5). From the state in which the closed region of the third plate member supports the head of the shaft-like component in the inverted posture, the closed region of the fourth plate member is The shaft-shaped component in the upright posture and the shaft-shaped component in the inverted posture at the first timing at which the head portion of the shaft-shaped component in the posture is locked and the third plate member is switched to the open region. Separating the engagement state with the shaft-shaped component;
(2) The shaft-shaped component in the inverted posture is at a second timing when the closed region of the first plate member is switched from the state supporting the head of the shaft-shaped component to the open region. Let the shaft-like parts pass, while
(3) The shaft component in the upright posture is a third timing at which the closed region of the second plate member switches from the state in which the head of the shaft component is locked to the open region. And configured to pass through the shaft-shaped part,
The switching mechanism is configured so that any one of the shaft-shaped component that has passed through the cam mechanism at the second timing or the shaft-shaped component that has passed through the cam mechanism at the third timing has a posture thereof. Let it pass without changing, and pass the other after reversing its posture,
It is characterized by that.

  According to the present invention, there is an effect similar to the above effect.

The shaft-shaped component supply method of the present invention is
A shaft-shaped component supply method for supplying a shaft portion while aligning the orientation of a shaft-shaped component having a head having a diameter larger than that of the shaft portion on one end side of the shaft portion,
When the shaft-shaped component passes through the cylindrical passage, depending on the posture of whether the head is upward or downward, if it is in one of the postures, it passes at the first timing, If it is a posture, a first step of passing at a second timing different from the first timing;
The shaft-like component that has passed at the first timing is supplied without changing its posture, and the shaft-like component that has passed at the second timing is supplied after reversing its posture. And the process of
It is characterized by having.

  According to the present invention, there is an effect similar to the above effect.

According to the present invention, the configuration of the apparatus can be simplified. Nevertheless, the orientation of the shaft-like component when the orientation of the shaft-like component supplied through the inside of the cylindrical member is not a predetermined direction. Can be supplied aligned in a predetermined direction.
Since the configuration of the apparatus can be simplified, troubles such as failure are reduced, and the burden of maintenance and the like is reduced.

It is a front view which shows the principal part of the shaft-shaped components supply apparatus which concerns on 1st Embodiment of this invention in cross section. It is a side view which shows the principal part of the shaft-shaped component supply apparatus of FIG. It is an enlarged side view which shows the introduction part in a shaft-shaped component supply apparatus. It is a top view of the introduction part shown in FIG. It is an enlarged front view which shows the alignment part in a shaft-shaped component supply apparatus. It is a side view of the alignment part shown in FIG. It is an enlarged vertical front view which shows the principal part of the cam mechanism in an alignment part. It is an enlarged plan view which shows the plate cam in a cam mechanism. It is a time chart which shows operation | movement of the alignment part. It is sectional drawing which shows the position of the volt | bolt 2 in the predetermined | prescribed rotation angle of a cam mechanism. It is sectional drawing which shows the position of the volt | bolt 2 in the predetermined | prescribed rotation angle of a cam mechanism. It is sectional drawing which shows the position of the volt | bolt 3 in the predetermined | prescribed rotation angle of a cam mechanism. It is sectional drawing which shows the position of the volt | bolt 3 in the predetermined | prescribed rotation angle of a cam mechanism. It is an enlarged front view which shows the principal part of the alignment part in the shaft-shaped components supply apparatus which concerns on 2nd Embodiment of this invention in a cross section. It is a side view of the alignment part shown in FIG. It is an enlarged vertical front view which shows the principal part of the cam mechanism in an alignment part. It is an enlarged plan view which shows the plate cam in a cam mechanism. It is an enlarged plan view which shows the plate cam in a cam mechanism. It is a time chart which shows operation | movement of the alignment part. It is sectional drawing which shows the position of the bolt pair 5 in the predetermined | prescribed rotation angle of a cam mechanism. It is sectional drawing which shows the position of the bolt pair 5 in the predetermined | prescribed rotation angle of a cam mechanism. It is sectional drawing which shows the position of the bolt pair 5 in the predetermined | prescribed rotation angle of a cam mechanism. It is sectional drawing which shows the position of the bolt pair 5 in the predetermined | prescribed rotation angle of a cam mechanism. It is a front view which shows the example of application of the shaft-shaped components supply apparatus by this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
FIG. 1 is a front view showing a shaft-shaped component supply device 10 according to a first embodiment of the present invention, and FIG. 2 is a side view. The shaft-shaped component supply device 10 supplies a shaft-shaped component (for example, a bolt) having a head having a diameter larger than that of the shaft portion on one end side of the shaft portion while aligning the directions thereof.

The shaft-shaped component supply device 10 is aligned with a cylindrical member 20 having a cylindrical passage 21 through which a bolt 1 serving as a shaft-shaped component passes, and an introduction portion 30 for introducing the bolt 1 into the cylindrical passage 21 of the cylindrical member 20. Unit 40.
The alignment unit 40 enters the cylindrical passage 21 from the outside of the cylindrical member 20 and opens and closes the cylindrical passage 21, and a switching mechanism 60 that directly passes or reversely passes the bolt 1 that has passed through the cam mechanism 50. And comprising.

  The cylindrical member 20 includes a vertical cylinder 22 fixed substantially vertically to the machine base 11, a curved cylinder 27 fixed to the machine base 11 below the vertical cylinder 22, a tube 28 attached to the tip of the curved cylinder 27, Is provided. A rotor 61 (described later) of the switching mechanism 60 is disposed between the lower end of the vertical cylinder 22 and the upper end of the curved cylinder 27. The vertical cylinder 22 and the curved cylinder 27 are made of a material having rigidity. The tube 28 is made of a flexible material.

  A cylindrical passage 21 for passing the bolt 1 is formed in all of the vertical cylinder 22, the curved cylinder 27, and the tube 28 of the cylinder member 20. The diameter of the cylindrical passage 21 is substantially constant over all of the vertical cylinder 22, the curved cylinder 27, and the tube 28. The bolt 1 is pumped through the cylindrical passage 21.

As will be described later, a similar cylindrical passage 21 is also formed in the rotating cylinder 31 and the connecting cylinder 34 of the introduction portion 30. That is, the rotating cylinder 31 and the connecting cylinder 34 of the introduction part 30 described later constitute a part of the introduction part 30 and at the same time constitute a part of the cylinder member 20.
First to third slits 23 to 25 into which first to third shutters 51 to 53 (described later) can enter are formed on the side wall of the vertical cylinder 22 (see FIG. 7). The cylindrical passage 21 in this portion is formed to have a slightly larger inner diameter by extra estimating the clearance so that it is convenient for the operation of the bolt 1 by the first to third shutters 51 to 53.

  As shown in FIGS. 1 to 4, the introducing portion 30 is integrally fixed above the rotating cylinder 31 and a rotating cylinder 31 that is rotatably supported by the machine base 11 above the vertical cylinder 22 of the cylindrical member 20. An introduction hopper 32, a connection cylinder 34 that connects the introduction hopper 32 and the cylindrical passage 21 formed in the rotation cylinder 31, and a motor 36 that rotates the rotation cylinder 31 via a belt 37.

  The rotating cylinder 31 rotates around the rotating shaft 35 together with the introduction hopper 32 while maintaining the state where the lower end communicates with the upper end of the vertical cylinder 22. The supply unit 38 fixed to the machine base 11 supplies the bolt 1 to the introduction hopper 32.

  The introduction hopper 32 is arranged at a position eccentric from the rotation shaft 35 of the rotary cylinder 31. That is, the center shaft 32 a of the introduction hopper 32 is eccentric from the rotation shaft 35 of the rotating cylinder 31. Therefore, when the introduction hopper 32 rotates around the rotation shaft 35, a centrifugal force acts on the bolt 1 in the introduction hopper 32.

  The motor 36 is controlled so that the rotation speed is not constant but is rotated at a moderate speed. In other words, the introduction hopper 32 is rotated at a slow speed rather than a constant speed. Therefore, the centrifugal force acting on the bolt 1 in the introduction hopper 32 also repeatedly increases and decreases.

  The opening 33 of the introduction hopper 32 is not opened directly below the lower end of the introduction hopper 32 as is usually seen, but is opened on the inclined surface of the introduction hopper 32. That is, the axis of the opening 33 is perpendicular to the inclined surface of the introduction hopper 32 and is directed toward the rotation shaft 35. Therefore, the bolt 1 in the introduction hopper 32 is naturally opened as it slides along the inclined surface of the introduction hopper 32 pressed when the centrifugal force increases, along the inclined surface when the centrifugal force decreases. It enters and falls in the cylindrical passage 21 of the connecting cylinder 34.

  As shown in FIGS. 5 and 6, the cam mechanism 50 is adjacent to the vertical cylinder 22 of the cylinder member 20 in parallel and is rotatably attached to the machine base 11, and is attached to the rotation axis 55. A first shutter 51 as a first plate member, a second shutter 52 as a second plate member, a third shutter 53 as a third plate member, and a belt 57 supported by the machine base 11. And a motor 56 that rotates the rotating shaft 55.

As shown in FIG. 7, the first, second, and third shutters 51, 52, and 53 pass through the first, second, and third slits 23, 24, and 25 that are formed on the side wall of the vertical cylinder 22. It penetrates into 21 and opens and closes the cylindrical passage 21.
The first, second, and third shutters 51, 52, and 53 have a distance D1 between the first shutter 51 and the second shutter 52, a distance D2 between the first shutter 51 and the third shutter 53, and a bolt 1 axis. When the length of the part 1a is L1 and the total length of the bolt 1 including the head 1b is L2, the parts 1a are arranged so that D1 <L1 <L2 <D2.

As shown in FIG. 8A, the first shutter 51 includes a closed region 51a that substantially completely closes the cylindrical passage 21, an open region 51c that opens the cylindrical passage 21, and a closed region 51a that opens. A gradually opened region 51b and a gradually closed region 51d connecting the region 51c are provided.
In the closed region 51a, the cylindrical passage 21 is closed so that neither the shaft 1a nor the head 1b of the bolt can pass. In the open area 51c, the cylindrical passage 21 is completely opened.
In the predetermined rotation phase, the first shutter 51 has a gradually opened region 51b from 0 ° to 30 °, an open region 51c from 30 ° to 225 °, a gradually closed region 51d from 225 ° to 255 °, and a 255 ° to 360 °. A closed region 51a is formed.

As shown in FIG. 8B, the second shutter 52 includes a closed region 52a for closing the cylindrical passage 21 by a predetermined range, an open region 52c for opening the cylindrical passage 21, a closed region 52a, and an open region 52c. And a gradually closed region 52d and a gradually closed region 52d.
In the closed region 52a, the cylindrical passage 21 is closed in a range where the shaft portion 1a of the bolt can pass but the head portion 1b cannot pass. In the open region 52c, the cylindrical passage 21 is completely opened.
In the predetermined rotation phase, the second shutter 52 has a closed region 52a from 0 ° to 120 °, a gradually opened region 52b from 120 ° to 150 °, an open region 52c from 150 ° to 330 °, and a gradually opened region 52c from 330 ° to 360 °. The closed region 52d is formed.

As shown in FIG. 8C, the third shutter 53 includes a closed region 53a for closing the cylindrical passage 21 within a predetermined range, an open region 53c for opening the cylindrical passage 21, a closed region 53a, and an open region 53c. And a gradually closed region 53b and a gradually closed region 53d.
In the closed region 53a, the tubular passage 21 is closed in a range where the bolt shaft portion 1a can pass but the head portion 1b cannot pass. In the open region 53c, the cylindrical passage 21 is completely opened.
In a predetermined rotational phase, the third shutter 53 has a closed region 53a from 0 ° to 240 °, a gradually opened region 53b from 240 ° to 270 °, an open region 53c from 270 ° to 330 °, and a gradually opened region 53c from 330 ° to 360 °. A closed region 53d is formed.

As shown in FIGS. 5 and 6, the switching mechanism 60 includes a motor 66 supported by the machine base 11 and a rotor 61 having a rotating shaft 65 attached to the motor 66.
The rotor 61 is a disk-shaped member having a predetermined thickness. The rotor 61 is disposed between the cylindrical passage 21 of the vertical cylinder 22 and the cylindrical passage 21 of the curved cylinder 27. The rotation shaft 65 of the rotor 61 is disposed orthogonal to the axis of the vertical cylinder 22.

The rotor 61 includes one passage hole 62 and two stop holes 63.
The passage hole 62 is a hole having a diameter substantially equal to that of the cylindrical passage 21. The passage hole 62 penetrates between the circumferential surfaces facing each other through the center of the rotor 61.
The stop hole 63 is also a hole having a diameter substantially equal to that of the cylindrical passage 21. The stop hole 63 is disposed at a position (two places) displaced by 90 ° along the circumferential direction of the rotor 61 with respect to the passage hole 62, and has a depth that accommodates the entire length of the bolt 1 from the circumferential surface of the rotor 61. It is formed.

  The motor 66 switches the rotor 61 so that either the passage hole 62 or the stop hole 63 of the rotor 61 coincides with the cylindrical passage 21 by intermittently rotating the rotor 61 by 90 °. That is, the motor 66 rotates 90 ° from the position where one of the stop holes 63 is vertically upward (the other stop hole 63 is vertically downward), and the passage hole 62 is vertical. The position (both stop holes 63 are both horizontal at this time), and the position where one stop hole 63 is turned vertically downward by 90 ° from this position, and the position where the other stop hole 63 is rotated 90 ° from here and passes. The rotor 61 is stopped at the position where the hole 62 becomes vertical again.

  The opening / closing cycle of the first to third shutters 51 to 53 by the motor 56 of the cam mechanism 50 and the switching cycle of the passage hole 62 or the stop hole 63 of the rotor 61 by the motor 66 of the switching mechanism 60 are synchronized with each other, It is executed as shown in the time chart of FIG.

Next, the operation of the shaft-shaped component supply device 10 according to the first embodiment configured as described above will be described.
[Operation of introduction part 30]
In the introduction unit 30, the bolt 1 is supplied from the supply unit 38 to the introduction hopper 32. In this case, it is preferable to supply the bolt 1 with the rotating cylinder 31 and the introduction hopper 32 rotated. If the bolt 1 is supplied in a state where the rotary cylinder 31 and the introduction hopper 32 are stopped, the bolt 1 is likely to be clogged near the bottom of the introduction hopper 32, whereas the bolt 1 is rotated in a state where the rotary cylinder 31 and the introduction hopper 32 are rotated. This is because clogging hardly occurs when 1 is supplied.

  The bolts 1 supplied to the introduction hopper 32 are smoothly and sequentially introduced from the opening 33 of the introduction hopper 32 into the cylindrical passage 21 of the connecting cylinder 34. The reason is that all the following conditions are met as described above.

(1) Centrifugal force acts on the bolt 1 in the introduction hopper 32 by the eccentric rotation of the introduction hopper 32.
(2) The centrifugal force acting on the bolt 1 in the introduction hopper 32 is repeatedly increased or decreased by the rotation of the introduction hopper 32 at a moderate speed.
(3) Since the opening 33 of the introduction hopper 32 is open toward the rotating shaft 35 on the inclined surface, the bolt 1 in the introduction hopper 32 is inclined when the centrifugal force is increased. Then, when the centrifugal force is reduced, it slides down along the inclined surface and naturally enters the opening 33 as it is.

However, in the process of introducing the connecting cylinder 34 from the introduction hopper 32 into the cylindrical passage 21, the bolt 1 is opposite to the bolt 2 in the upright posture in which the head 2b is positioned above the shaft 2a. In addition, bolts 3 in an inverted posture in which the head portion 3b is positioned below the shaft portion 3a are mixed.
The bolt 1 in which the bolt 2 in the upright posture and the bolt 3 in the inverted posture are mixed is aligned by the alignment unit 40 as follows.

[Operation of the alignment portion 40; in the case of the upright bolt 2]
In the aligning portion 40, the bolt 2 in the upright posture passes through the aligning portion 40 while maintaining the upright posture as follows.
First, it is assumed that the bolt 2 in the upright posture reaches the cam mechanism 50 when the first, second, and third shutters 51, 52, and 53 are located at 0 °. At this time, the third shutter 53 and the second shutter 52 are in the initial stage of the closed areas 53a and 52a, and the first shutter 51 is in the initial stage of the gradually opening area 51b.
Therefore, as shown in FIG. 10A, the bolt 2 in the upright posture passes through the third shutter 53, the shaft 2a passes through the second shutter 52, and the lower surface of the head 2b is third. It stops by being caught by the shutter 53. Note that the lower end of the shaft portion 2 a is located above the first shutter 51.

  This state continues until the third shutter 53 rotates 240 ° and reaches the end of its closed region 53a. During this time, the second shutter 52 starts to open from 120 ° rotation and becomes an open region 52c after 150 ° rotation. The first shutter 51 rotates 30 ° and continues until the first shutter 51 rotates 225 °, starts to close from 225 ° rotation, and becomes the closed region 51a at 255 ° rotation.

During the period when the third shutter 53 starts to open from 240 ° rotation and becomes the open region 53c by 270 ° rotation, the bolt 2 in the upright posture has the head 2b at the third shutter as shown in FIG. It is released from 53 and descends. At this time, the second shutter 52 is in the open area 52c, but the first shutter 51 becomes the closed area 51a immediately before that.
Therefore, the bolt 2 in the upright posture stops in a state where the lower end of the shaft portion 2 a is placed on the first shutter 51. The head 2 b of the bolt 2 in the upright posture is located between the second shutter 52 and the third shutter 53. This state continues until the second shutter 52 rotates 330 ° and reaches the end of its open area 52c.

The second shutter 52 starts to close from 330 ° rotation and becomes a closed region 52a after 360 ° rotation. Similarly, the third shutter 53 starts to close from 330 ° rotation and becomes a closed region 53a after 360 ° rotation. Subsequently, during the period in which the first shutter 51 starts to open from 360 ° rotation and becomes the open region 51c by 390 ° rotation, the bolt 2 in the upright posture is placed on the shaft portion 2a as shown in FIG. The lower end is released from the first shutter 51.
However, the bolt 2 in the upright posture stops when the lower surface of the head 2 b is caught by the second shutter 52. This state continues until the second shutter 52 rotates 480 ° and reaches the end of its closed region 52a.

  During the period in which the second shutter 52 starts to open from the rotation of 480 ° and becomes the open region 52c by the rotation of 510 °, the head 2b has the head 2b in the second shutter, as shown in FIG. 11B. 52 is released through the first shutter 51 in the open area 51c. That is, the bolt 2 in the upright posture falls from the cam mechanism 50 in a section of 120 ° to 150 ° of each cycle.

  In the rotor 61 of the switching mechanism 60, the passage hole 62 is stopped at a vertical position in a predetermined angular range section before and after the section of 120 ° to 150 ° of each cycle. Therefore, the bolt 2 in the upright posture that is released from the second shutter 52 and falls through the first shutter 51 falls through the passage hole 62 of the rotor 61. In this way, the bolt 2 in the upright posture passes through the alignment portion 40.

[Operation of the alignment portion 40; in the case of the inverted bolt 3]
In the aligning section 40, the bolts 3 in the inverted posture pass through the aligning section 40 after being inverted from the inverted posture to the upright posture as follows.
First, it is assumed that the bolt 3 in an inverted posture reaches the cam mechanism 50 when the first, second, and third shutters 51, 52, and 53 are at 0 ° positions. At this time, the third shutter 53 and the second shutter 52 are in the initial stage of the closed areas 53a and 52a, and the first shutter 51 is in the initial stage of the gradually opening area 51b.
Therefore, the bolt 3 in the inverted posture stops in a state where the lower surface of the head 3 b is placed on the third shutter 53 as shown in FIG.

  This state continues until the third shutter 53 rotates 240 ° and reaches the end of its closed region 53a. During this time, the second shutter 52 starts to open from 120 ° rotation and becomes an open region 52c after 150 ° rotation. The first shutter 51 rotates 30 ° and continues until the first shutter 51 rotates 225 °, starts to close from 225 ° rotation, and becomes the closed region 51a at 255 ° rotation.

  During the period in which the third shutter 53 starts to open from the 240 ° rotation and becomes the open region 53c by the 270 ° rotation, the bolt 3 in the inverted posture has the head 3b attached to the third shutter 53 as shown in FIG. It is released from and descends. At this time, although the second shutter 52 is in the open region 52c, the first shutter 51 is in the closed region 51a immediately before that, so that the bolt 3 in the inverted posture has the lower surface of the head 3b placed on the first shutter 51. Stop in state. The upper end of the shaft portion 3 a of the bolt 3 in the inverted posture is located between the second shutter 52 and the third shutter 53.

  This state continues until the first shutter 51 rotates 360 ° and reaches the end of its closed region 51a. During this time, the second shutter 52 starts to close from 330 ° rotation and becomes a closed region 52a after 360 ° rotation, and the third shutter 53 similarly starts to close from 330 ° rotation and becomes a closed region 53a after 360 ° rotation.

  Subsequently, during the period in which the first shutter 51 starts to open from 360 ° rotation and becomes the open region 51c by 390 ° rotation, the head 3b of the bolt 3 in the inverted posture has the first shutter 51 as shown in FIG. It is released from and falls. That is, the bolt 3 in the inverted posture falls from the cam mechanism 50 in the interval of 0 ° to 30 ° of each cycle.

  In the rotor 61 of the switching mechanism 60, the stop hole 63 is stopped at a vertical position in a predetermined angular range section before and after the section including 0 ° to 30 ° of each cycle. Therefore, the inverted bolt 3 that is released from the first shutter 51 and falls is housed and held in the upward stop hole 63 of the rotor 61.

The rotor 61 is then rotated 90 °, and the passage hole 62 is stopped at the vertical position in a predetermined angular range section before and after the section including 120 ° to 150 ° sections of each cycle. At this time, the stop hole 63 that accommodates the bolt 3 in the inverted posture is in the horizontal position, so the bolt 3 is held in the horizontal posture while being accommodated in the stop hole 63.
When the rotor 61 is in this state, the bolt 2 in the above-described upright posture falls through the passage hole 62 in the vertical position.

  Thereafter, the rotor 61 is further rotated by 90 °, and the stop hole 63 is stopped at the vertical position in a predetermined angular range section before and after that including, for example, a section of 240 ° to 270 ° in each cycle. At this time, since the stop hole 63 that accommodated the bolt 3 in the inverted posture is in the downward vertical position, the bolt 3 is inverted to be in the upright posture, and falls while maintaining this upright posture. In this way, the bolt 3 in the inverted posture passes through the alignment portion 40.

Thereafter, in the rotor 61, the stop hole 63 needs to be stopped at a vertical position in a predetermined angular range section including the section of 0 ° to 30 ° of each cycle.
Therefore, the rotor 61 has a stop angle range section in which the bolt 3 in the inverted posture is accommodated from the stop angle range section in which the bolt 3 in the inverted posture is dropped (including a section of 240 ° to 270 ° in each cycle). The stop state may be continuously maintained until the cycle of 0 ° to 30 ° of each cycle is included.

As described above, the inverted bolt 3 falls from the cam mechanism 50 during the period when the first shutter 51 of the cam mechanism 50 starts to open from 0 ° rotation of each cycle and becomes the open region 51c by 30 ° rotation. .
During the period in which the first shutter 51 of the cam mechanism 50 starts to open from 120 ° rotation of each cycle and becomes the open region 51c by 150 ° rotation, the bolt 2 in the upright posture falls from the cam mechanism 50.
That is, the timing at which the bolt 3 in the inverted posture falls from the cam mechanism 50 is different from the timing at which the bolt 2 in the upright posture falls from the cam mechanism 50.

The bolt 3 in the inverted posture dropped from the cam mechanism 50 is once accommodated and held in the upward stop hole 63 of the rotor 61, and then the rotor 61 rotates 180 ° and the stop hole 63 faces downward, so that it is inverted. The switching mechanism 60 is dropped in a posture inverted from erect to erect.
The bolt 2 in the upright posture that has dropped from the cam mechanism 50 passes through the passage hole 62 at the vertical position of the rotor 61 and falls as it is on the switching mechanism 60.
Therefore, the timing at which the bolt 3 in the inverted posture falls from the switching mechanism 60 and the timing at which the bolt 2 in the upright posture falls from the switching mechanism 60 are also different from each other.

FIG. 24 is a front view illustrating an example of the robot apparatus 80 to which the shaft-shaped component supply apparatus 10 according to the first embodiment is applied.
The robot device 80 includes an articulated robot 81 and a shaft-shaped component supply device 10. A nutrunner 82 is provided at the tip of the arm of the articulated robot 81. The tip of the tube 28 of the cylindrical member 20 is guided to the nut runner 82 and supplies the bolt 1 that the nut runner 82 fastens.

According to the first embodiment, there are the following effects.
(1) In the closed region 51a of the first shutter 51, the cylindrical passage 21 is closed so that neither the shaft portion 1a nor the head portion 1b of the bolt can pass. In the closed regions 52a and 53a of the second shutter 52 and the third shutter 53, the cylindrical passage 21 is closed in a range where the bolt shaft portion 1a can pass but the head portion 1b cannot pass.
The first, second, and third shutters 51, 52, and 53 have a distance D1 between the first shutter 51 and the second shutter 52, a distance D2 between the first shutter 51 and the third shutter 53, and a bolt 1 axis. When the length of the part 1a is L1, and the total length of the bolt 1 including the head 1b is L2, the parts 1a are arranged so that D1 <L1 <L2 <D2.
Thereby, the timing which passes the cam mechanism 50 can be clearly divided by the case where the bolt 1 which has arrived at the cam mechanism 50 is the bolt 2 in the upright posture and the case of the bolt 3 in the inverted posture.

(2) The rotor 61 of the switching mechanism 60 includes a passage hole 62 through which the bolt 1 falling from the cam mechanism 50 passes, and a stop hole 63 through which the bolt 1 is temporarily accommodated and stopped, and the posture is reversed and then passed. .
Therefore, when the bolt 2 in the upright posture falls from the cam mechanism 50, the bolt 2 can be passed through the passage hole 62 in the same posture.
When the bolt 3 in the inverted posture falls from the cam mechanism 50, the bolt 3 can be temporarily accommodated in the stop hole 63 and stopped, and then passed after the posture is reversed.
Thereby, the direction of all the bolts 1 can be aligned with the bolts 2 in the upright posture.

(3) The relationship between the passage hole 62 and the stop hole 63 and the bolt 2 in the upright posture and the bolt 3 in the inverted posture is not fixed.
Therefore, when the bolt 3 in the inverted posture falls from the cam mechanism 50, the bolt 3 can be passed through the passage hole 62 in the same posture.
When the bolt 2 in the upright posture falls from the cam mechanism 50, the bolt 2 can be temporarily accommodated in the stop hole 63 and stopped, and then passed after the posture is reversed.
Thereby, the direction of all the bolts 1 can be aligned with the bolts 3 in the inverted posture.

Second Embodiment
FIG. 14 is an enlarged front view of the alignment unit 140 in the shaft-shaped component supply device 110 according to the second embodiment of the present invention, and FIG. 15 is a side view of the alignment unit 140 shown in FIG. The shaft-shaped component supply device 110 has a feature that can handle the bolt pair 5 (see FIG. 16) in which the shaft portion 2a of the bolt 2 in the upright posture and the shaft portion 3a of the bolt 3 in the inverted posture are engaged.
Except for this feature, the shaft-shaped component supply device 110 according to the present embodiment is substantially the same as the shaft-shaped component supply device 10 according to the first embodiment. The reference numerals used are indicated by adding 100 to the reference numerals used, and redundant description will be omitted.

  The shaft-shaped component supply device 110 includes a first shutter 151 as a first plate member, a second shutter 152 as a second plate member, a third shutter 153 as a third plate member, and a fourth plate member. The fourth shutter 154 is provided.

As shown in FIG. 16, the first, second, third, and fourth shutters 151, 152, 153, and 154 are the first, second, third, and fourth slits 123 formed on the side wall of the vertical cylinder 122. , 124, 125, 126 enters the cylindrical passage 121 to open and close the cylindrical passage 121.
The first, second, third, and fourth shutters 151, 152, 153, and 154 have a distance D1 between the first shutter 151 and the second shutter 152, and a distance D2 between the first shutter 151 and the third shutter 153. When the distance between the third shutter 153 and the fourth shutter 154 is D3, they are arranged so that D1 <L1 <L2 <D2 and L1 <D3 <L3.
Here, L1 is the length of the shaft 1a of the bolt 1, L2 is the total length of the bolt 1 including the head 1b, and L3 is the shaft 2a of the upright bolt 2 and the shaft 3a of the inverted bolt 3. This is the length from the lower surface of the head 3 b of the inverted bolt 3 to the lower surface of the head 2 b of the upright bolt 2 in the engaged bolt pair 5. Therefore, L3 is L2 ≦ L3 <(L1 + L2).

As shown in FIG. 17A, the first shutter 151 includes a closed region 151a that substantially completely closes the cylindrical passage 121, an open region 151c that opens the cylindrical passage 121, and a closed region 151a that opens. A gradually opened region 151b and a gradually closed region 151d that connect the region 151c are provided.
In the closed region 151a, the cylindrical passage 121 is closed so that neither the bolt shaft 1a nor the head 1b can pass. In the open area 151c, the cylindrical passage 121 is completely opened.
In the predetermined rotation phase, the first shutter 151 has an opening region 151c of 0 ° to 135 °, a gradually closed region 151d of 135 ° to 180 °, a closed region 151a of 180 ° to 270 °, and a 270 ° to 315 ° gradually. The open regions 151b and 315 ° to 360 ° are formed to be the open regions 151c.

As shown in FIG. 17B, the second shutter 152 includes a closed region 152a that closes the cylindrical passage 121 within a predetermined range, an open region 152c that opens the cylindrical passage 121, a closed region 152a, and an open region 152c. A gradually opened region 152b and a gradually closed region 152d.
In the closed region 152a, the cylindrical passage 121 is closed in a range where the shaft 1a of the bolt 1 can pass but the head 1b cannot pass. In the open region 152c, the cylindrical passage 121 is completely opened.
In a predetermined rotation phase, the second shutter 152 has a gradually opened region 152b in the range of 0 ° to 45 °, an open region 152c in the range of 45 ° to 225 °, a gradually closed region 152d in the range of 225 ° to 270 °, and a 270 ° to 360 °. A closed region 152a is formed.

As shown in FIG. 18A, the third shutter 153 includes a closed region 153a that substantially completely closes the cylindrical passage 121, an open region 153c that opens the cylindrical passage 121, and a closed region 153a that opens. A gradually opened region 153b and a gradually closed region 153d connecting the region 153c are provided.
In the closed region 153a, the cylindrical passage 121 is closed so that neither the shaft 1a nor the head 1b of the bolt can pass. In the open region 153c, the cylindrical passage 121 is completely opened.
In a predetermined rotational phase, the third shutter 153 has a closed region 153a of 0 ° to 135 °, a gradually opened region 153b of 135 ° to 180 °, an open region 153c of 180 ° to 270 °, and a gradually closed region 153c of 270 ° to 315 °. The closed region 153d and 315 ° to 360 ° are formed to be the closed region 153a.

As shown in FIG. 18B, the fourth shutter 154 includes a closed region 154a that closes the cylindrical passage 121 within a predetermined range, an open region 154c that opens the cylindrical passage 121, a closed region 154a, and an open region 154c. A gradually opened region 154b and a gradually closed region 154d.
In the closed region 154a, the cylindrical passage 121 is closed in a range where the shaft 1a of the bolt 1 can pass but the head 1b cannot pass. In the open region 154c, the cylindrical passage 121 is completely opened.
In the predetermined rotation phase, the fourth shutter 154 has an open region 154c in the range of 0 ° to 90 °, a gradually closed region 154d in the range of 90 ° to 135 °, a closed region 154a in the range of 135 ° to 270 °, and a 270 ° to 315 ° gradually. The open regions 154b and 315 ° to 360 ° are formed to be the open regions 154c.

  The opening / closing cycle of the first to fourth shutters 151 to 154 by the motor 156 of the cam mechanism 150 and the switching cycle of the passage hole 162 or the stop hole 163 of the rotor 161 by the motor 166 of the switching mechanism 160 are synchronized with each other, It is executed as shown in the time chart of FIG.

Next, the operation of the shaft-shaped component supply device 110 according to the second embodiment configured as described above will be described.
[Operation of Alignment Unit 140; Bolt Pair 5]
In the aligning portion 140, the bolt pair 5 in which the shaft portion 2a of the bolt 2 in the upright posture and the shaft portion 3a of the bolt 3 in the inverted posture are engaged (or meshed) is separated as follows. 140 is passed.
First, it is assumed that the bolt pair 5 reaches the cam mechanism 150 when the first, second, third, and fourth shutters 151, 152, 153, and 154 are at 0 °. At this time, the fourth shutter 154 is in the middle stage of the open area 154c, the third shutter 153 is in the middle stage of the closed area 153a, the second shutter 152 is in the initial stage of the gradually opening area 152b, and the first shutter 151 is in the middle stage of the open area 151c.
Therefore, the bolt pair 5 stops with the lower end of the head 3b of the lower bolt 3 placed on the third shutter 153, as shown in FIG. At this time, the lower surface of the head 2 b of the upper bolt 2 is positioned above the fourth shutter 154.

This state continues until the third shutter 153 rotates 135 ° and reaches the end of its closed region 153a. During this time, the second shutter 152 starts to open from 0 ° rotation and becomes an open region 152c by 45 ° rotation. The fourth shutter 154 starts to close from 90 ° rotation and becomes a closed region 154a by 135 ° rotation.
That is, as shown in FIG. 20B, when the third shutter 153 rotates 135 ° and reaches the end of the closed region 153a, the fourth shutter 154 becomes the closed region 154a at the same time.

During the period when the third shutter 153 starts to open from 135 ° rotation and becomes the open region 153c by 180 ° rotation, the bolt pair 5 is connected to the head 3b of the lower bolt 3 as shown in FIG. The lower end is released from the third shutter 153 and descends. At this time, since the fourth shutter 154 is in the closed region 154a, the lower surface of the head 2b of the upper bolt 2 is caught by the fourth shutter 154 and stopped.
That is, of the bolt pair 5 that is released from the third shutter 153 and descends, only the upper bolt 2 is stopped by the fourth shutter 154. On the other hand, the lower bolt 3 is lowered by its own weight.

Thereby, in the bolt pair 5, the engagement between the shaft portion 2 a of the upper bolt 2 and the shaft portion 3 a of the lower bolt 3 is released. Then, while the bolt 2 in the upright posture is caught by the fourth shutter 154 and stopped, the bolt 3 in the inverted posture passes through the second shutter 152 in the open region 152c and is in the initial state of the closed region 151a. It stops in a state of being placed on the shutter 151.
The first shutter 151 starts to close from 135 ° rotation and becomes a closed region 151a by 180 ° rotation.

  That is, the bolt 2 in the upright posture in which the engagement of the bolt pair 5 is released is in a state where it is caught by the fourth shutter 154 and stopped, and the bolt 3 in the inverted posture is placed on the first shutter 151 and stopped. Is in a state. This state continues until the first and fourth shutters 151 and 154 rotate 270 ° and reach the end of their closed areas 151a and 154a.

During this time, the second shutter 152 starts to close from the rotation of 225 ° and becomes the closed region 152a by the rotation of 270 °. Subsequently, during the period in which the first and fourth shutters 151 and 154 start to open from 270 ° rotation and become the open regions 151c and 154c by 315 ° rotation, as shown in FIG. 2 is released from the fourth shutter 154 and descends. This will be described later.
The bolt 3 in the inverted posture is released from the first shutter 151 and falls. That is, the bolt 3 in the inverted posture falls from the cam mechanism 150 in the interval of 270 ° to 315 ° of each cycle.

  In the rotor 161 of the switching mechanism 160, the stop hole 163 is stopped at the vertical position in a predetermined angular range section before and after the section of 270 ° to 315 ° of each cycle. Therefore, the bolt 3 in the inverted posture that is released from the first shutter 151 and falls is housed and held in the upward stop hole 163 of the rotor 161.

The rotor 161 is then rotated by 90 °, and the passage hole 162 is stopped at the vertical position in a predetermined angular range section before and after that including a section of 0 ° to 45 ° of each cycle as will be described later. At this time, the stop hole 163 that accommodates the bolt 3 in the inverted posture is in the horizontal position, so the bolt 3 is held in the horizontal posture while being accommodated in the stop hole 163.
When the rotor 161 is in this state, as will be described later, the bolt 2 in the upright posture falls through the passage hole 162 in the vertical position.

  Thereafter, the rotor 161 is further rotated by 90 °, and the stop hole 163 is stopped at the vertical position in a predetermined angular range section before and after the section including, for example, a section of 135 ° to 180 ° of each cycle. At this time, since the stop hole 163 that accommodated the bolt 3 in the inverted posture is in the downward vertical position, the bolt 3 is inverted to be in the upright posture, and falls while maintaining this upright posture. In this way, the bolt 3 in the inverted posture passes through the alignment portion 140.

Thereafter, the rotor 161 needs to be stopped at a vertical position in a predetermined angular range section before and after the section including 0 to 45 degrees of each cycle.
Therefore, the rotor 161 has a stop angle range section in which the bolt 3 in the inverted posture is accommodated from the stop angle range section in which the bolt 3 in the inverted posture is dropped (including a section of, for example, 135 ° to 180 ° in each cycle). You may keep a stop state continuously until the 0 to 45 degree section of each cycle is included.

On the other hand, during this period of 270 ° to 315 °, the third shutter 153 starts to close from the 270 ° rotation and becomes the closed region 153a by the 315 ° rotation. That is, when the fourth shutter 154 becomes the open area 154c, the third shutter 153 becomes the closed area 153a at the same time.
Therefore, the bolt 2 in the upright posture that is released from the fourth shutter 154 and descends stops while being placed on the third shutter 153. This state continues until the third shutter 153 rotates 495 ° and reaches the end of its closed region 153a. During this time, the second shutter 152 starts to open from 360 ° rotation and becomes the open region 52c by 405 ° rotation. The fourth shutter 154 starts to close at 450 ° rotation and becomes a closed region 154a at 495 ° rotation.

  During the period when the third shutter 153 starts to open from 495 ° rotation and becomes the open region 153c by 540 ° rotation, the bolt 2 in the upright posture is released from the third shutter 153 as shown in FIG. Then, it passes through the second shutter 152 in the open area 152c and stops on the first shutter 151 in the initial stage of the closed area 151a. This state continues until the first shutter 151 rotates 630 ° and reaches the end of its closed region 151a.

During this time, the second shutter 152 starts to close from the rotation of 585 ° and becomes the closed region 152a by the rotation of 630 °. Subsequently, during the period in which the first shutter 151 starts to open from the 630 ° rotation and becomes the open region 151c by the 675 ° rotation, the bolt 2 in the upright posture is, as shown in FIG. 22B, the first shutter 151. Released from.
However, since the second shutter 152 is already in the closed region 152a at the start of this period, the bolt 2 in the upright posture is stopped because the lower surface of the head 2b is caught by the second shutter 152. This state continues until the second shutter 152 rotates 720 ° and reaches the end of its closed region 152a.

  During the period when the second shutter 152 starts to open from the 720 ° rotation and becomes the open region 152c by the 765 ° rotation, the bolt 2 in the upright posture is released from the second shutter 152 and opened as shown in FIG. It falls through the first shutter 151 in the region 152c. That is, the bolt 2 in the upright posture falls from the cam mechanism 50 in the interval of 0 ° to 45 ° of each cycle.

  In the rotor 161 of the switching mechanism 160, the passage hole 162 is stopped at the vertical position in a predetermined angular range section before and after the section of 0 ° to 45 ° of each cycle. Therefore, the bolt 2 in the erect posture released from the second shutter 152 and falling through the first shutter 151 falls through the passage hole 162 of the rotor 161. In this way, the bolt 2 in the upright posture passes through the alignment portion 140.

  In this way, the bolt pair 5 in which the shaft portion 2a of the bolt 2 in the upright posture and the shaft portion 3a of the bolt 3 in the inverted posture are engaged with each other in the cam mechanism 150 with the bolt 2 in the upright posture and the inverted posture. The bolts 3 are separated from the cam mechanism 150 at different timings. After that, it drops from the switching mechanism 160 at different timings.

[Operation of the alignment unit 140; in the case of the upright bolt 2]
In the aligning portion 140, the bolt 2 in the upright posture passes through the aligning portion 140 while maintaining the upright posture as follows.
First, it is assumed that the upright bolt 2 reaches the cam mechanism 150 when the first, second, third, and fourth shutters 151, 152, 153, and 154 are at 0 °. At this time, the fourth shutter 154 is in the middle stage of the open area 154c, the third shutter 153 is in the middle stage of the closed area 153a, the second shutter 152 is in the initial stage of the gradually opening area 152b, and the first shutter 151 is in the middle stage of the open area 151c.
Therefore, the upright bolt 2 stops in a state where the lower end of the shaft portion 2a is placed on the third shutter 153 as shown in FIG.

  During the period when the third shutter 153 starts to open from 135 ° rotation and becomes the open region 153c by 180 ° rotation, the upright bolt 2 is released from the third shutter 153 as shown in FIG. It passes through the second shutter 152 in the open area 152c and stops on the first shutter 151 in the initial stage of the closed area 151a. This state continues until the first shutter 151 rotates 270 ° and reaches the end of its closed region 151a.

During this time, the second shutter 152 starts to close from the rotation of 225 ° and becomes the closed region 152a by the rotation of 270 °. Subsequently, the erecting bolt 2 is released from the first shutter 151 as shown in FIG. 22B during the period when the first shutter 151 starts to open from 270 ° rotation and becomes the open region 151c by 315 ° rotation. Is done.
However, since the second shutter 152 is already in the closed region 152a at the start of this period, the bolt 2 in the upright posture is stopped because the lower surface of the head 2b is caught by the second shutter 152.

  During the period when the second shutter 152 starts to open from 360 ° rotation and becomes the open region 152c by 405 ° rotation, the erecting bolt 2 is released from the second shutter 152 as shown in FIG. Falls through the first shutter 151 located at the bottom. That is, the bolt 2 in the upright posture falls from the cam mechanism 50 in the interval of 0 ° to 45 ° of each cycle.

  In the rotor 161 of the switching mechanism 160, the passage hole 162 is stopped at the vertical position in a predetermined angular range section before and after the section of 0 ° to 45 ° of each cycle. Therefore, the upright bolt 2 that is released from the second shutter 152 and falls through the first shutter 151 falls through the passage hole 162 of the rotor 161. In this way, the upright bolt 2 passes through the alignment portion 140.

[Operation of Alignment Section 140; Inverted Bolt 3]
In the alignment unit 140, the bolts 3 in the inverted posture pass through the alignment unit 140 after being inverted from the inverted posture to the upright posture as follows.
First, it is assumed that the inverted bolt 3 reaches the cam mechanism 150 when the first, second, third, and fourth shutters 151, 152, 153, and 154 are at 0 °. At this time, the fourth shutter 154 is in the middle stage of the open area 154c, the third shutter 153 is in the middle stage of the closed area 153a, the second shutter 152 is in the initial stage of the gradually opening area 152b, and the first shutter 151 is in the middle stage of the open area 151c.
Therefore, the inverted bolt 3 stops with the lower surface of the head 3 a placed on the third shutter 153.

  During the period when the third shutter 153 starts to open from 135 ° rotation and becomes the open region 153c by 180 ° rotation, the inverted bolt 3 has the lower end of the head 3b at the third shutter 153 as shown in FIG. Is released, and then passes through the second shutter 152 in the open area 152c and stops on the first shutter 151 in the initial stage of the closed area 151a.

  The inverted bolt 3 is released from the first shutter 151 and falls during the period when the first shutter 151 starts to open from 270 ° rotation and becomes the open region 151c by 315 ° rotation, as shown in FIG. . That is, the inverted bolt 3 falls from the cam mechanism 150 in the interval of 270 ° to 315 ° of each cycle.

  In the rotor 161 of the switching mechanism 160, the stop hole 163 is stopped at the vertical position in a predetermined angular range section before and after the section of 270 ° to 315 ° of each cycle. Therefore, the inverted bolt 3 that is released from the first shutter 151 and falls is accommodated and held in the upward stop hole 163 of the rotor 161.

Thereafter, the rotor 161 is rotated 90 °, and the passage hole 162 is stopped at the vertical position in a predetermined angular range section before and after the section including 0 ° to 45 ° of each cycle as described above. At this time, the stop hole 163 in which the inverted bolt 3 is accommodated is in a horizontal position, so that the bolt 3 is held in a horizontal posture while being accommodated in the stop hole 163.
When the rotor 161 is in this state, as described above, the upright bolt 2 falls through the through hole 162 in the vertical position.

  Thereafter, the rotor 161 is further rotated by 90 °, and the stop hole 163 is stopped at the vertical position in a predetermined angular range section before and after the section including, for example, a section of 135 ° to 180 ° of each cycle. At this time, since the stop hole 163 that accommodated the inverted bolt 3 is in a downward vertical position, the bolt 3 is inverted to be in an upright posture and falls while maintaining this upright posture. In this way, the inverted bolt 3 passes through the alignment portion 140.

  An example of the robot apparatus 80 to which the shaft-shaped component supply apparatus 110 according to the second embodiment is applied is shown in FIG.

According to 2nd Embodiment, in addition to said effect, there exist the following effects.
(4) In the closed regions 151a and 153a of the first shutter 151 and the third shutter 153, the cylindrical passage 121 is closed so that neither the bolt shaft 1a nor the head 1b can pass. In the closed regions 152a and 154a of the second shutter 152 and the fourth shutter 154, the cylindrical passage 121 is closed in a range where the bolt shaft 1a can pass but the head 1b cannot pass.
The first, second, third, and fourth shutters 151, 152, 153, and 154 have a distance D1 between the first shutter 151 and the second shutter 152, and a distance D2 between the first shutter 151 and the third shutter 153. When the distance between the third shutter 153 and the fourth shutter 154 is D3, they are arranged so that D1 <L1 <L2 <D2 and L1 <D3 <L3.
Here, L1 is the length of the shaft 1a of the bolt 1, L2 is the total length of the bolt 1 including the head 1b, and L3 is the shaft 2a of the upright bolt 2 and the shaft 3a of the inverted bolt 3. The length of the engaged bolt pair 5 from the lower surface of the head 3b of the inverted bolt 3 to the lower surface of the head 2b of the upright bolt 2 (ie, L2 ≦ L3 <(L1 + L2)).
Thus, when the bolt 1 that has arrived at the cam mechanism 50 is the bolt pair 5 in which the shaft portion 2a of the bolt 2 in the upright posture and the shaft portion 3a of the bolt 3 in the inverted posture are engaged, the engagement is released. Thus, the bolt 2 in the upright posture and the bolt 3 in the inverted posture can be reliably separated.

1 ... Bolt (shaft-shaped part)
DESCRIPTION OF SYMBOLS 1a ... Shaft part 1b ... Head 2 ... Upright bolt 2a ... Shaft part 2b ... Head 3 ... Inverted bolt 3a ... Shaft part 3b ... Head 5 ... Bolt pair 10,110 ... Shaft-shaped component supply apparatus 20,120 ... Cylindrical member 21, 121 ... Cylindrical passage 50, 150 ... Cam mechanism 51, 151 ... First shutter (first plate member)
51a, 151a ... closed region 51c, 151c ... open region 52, 152 ... second shutter (second plate member)
52a, 152a ... closed region 52c, 152c ... open region 53, 153 ... third shutter (third plate member)
53a, 153a ... closed region 53c, 153c ... open region 154 ... fourth shutter (fourth plate member)
154a: closed region 154c: open region 60, 160 ... switching mechanism

Claims (3)

A shaft-shaped component supply device for supplying a shaft-shaped component having a head having a diameter larger than that of the shaft portion on one end side of the shaft portion while aligning the orientation thereof,
A cylindrical member having a cylindrical passage inside through which the shaft-shaped component passes;
A cam mechanism that enters the cylindrical passage from the outside of the cylindrical member and opens and closes the cylindrical passage;
A switching mechanism that directly or reversely passes the shaft-shaped component that has passed through the cam mechanism,
The cam mechanism has first, second, and third plate members in order from the downstream side to the upstream side,
Each of the first to third plate members includes a closed region for closing the cylindrical passage within a predetermined range and an open region for opening the cylindrical passage at predetermined angles along the circumferential direction. Have
The closed region and the open region of the first to third plate members are:
When the head portion of the shaft-shaped component is facing upward, the shaft at the first timing when the closed region of the second plate member switches from the state of locking the head portion to the open region. While passing the shaped parts,
When the head of the shaft-shaped component is facing downward, the shaft-shaped component is at the second timing when the closed region of the first plate member switches from the state supporting the head to the open region. Configured to pass parts,
The switching mechanism is configured so that any one of the shaft-shaped component that has passed through the cam mechanism at the first timing or the shaft-shaped component that has passed through the cam mechanism at the second timing has a posture thereof. Let it pass without changing, and pass the other after reversing its posture,
A shaft-shaped component supply device characterized by the above. A shaft-shaped component supply device for supplying a shaft-shaped component having a head having a diameter larger than that of the shaft portion on one end side of the shaft portion while aligning the orientation thereof,
A cylindrical member having a cylindrical passage inside through which the shaft-shaped component passes;
A cam mechanism that enters the cylindrical passage from the outside of the cylindrical member and opens and closes the cylindrical passage;
A switching mechanism that directly or reversely passes the shaft-shaped component that has passed through the cam mechanism,
The cam mechanism has first, second, third, and fourth plate members in order from the downstream side toward the upstream side,
Each of the first to fourth plate members includes a closed region for closing the cylindrical passage within a predetermined range and an open region for opening the cylindrical passage at predetermined angles along the circumferential direction. Have
The closed region and the open region of the first to fourth plate members are:
When the shaft portion of the shaft-like component in the upright posture with the head facing upward is engaged with the shaft portion of the shaft-shaped component in the inverted posture with the head facing downward, From the state in which the closed region of the third plate member supports the head of the shaft-shaped component in the inverted posture, the closed region of the fourth plate member is in the upright posture. The shaft-like component in the upright posture and the shaft-like component in the inverted posture at the first timing at which the head of the shaft-like component is locked and the third plate member is switched to the open region. Separating the engagement state with
The shaft-shaped component in the inverted posture has the shaft-shape at a second timing at which the closed region of the first plate member switches from the state supporting the head of the shaft-shaped component to the open region. While passing the parts,
The shaft-like component in the upright posture is at a third timing when the closed region of the second plate member is switched from the state of locking the head of the shaft-like component to the open region. Configured to pass through shaft-shaped parts,
The switching mechanism is configured so that any one of the shaft-shaped component that has passed through the cam mechanism at the second timing or the shaft-shaped component that has passed through the cam mechanism at the third timing has a posture thereof. Let it pass without changing, and pass the other after reversing its posture,
A shaft-shaped component supply device characterized by the above. A shaft-shaped component supply method for supplying a shaft portion while aligning the orientation of a shaft-shaped component having a head having a diameter larger than that of the shaft portion on one end side of the shaft portion,
When the shaft-shaped component passes through the cylindrical passage, depending on the posture of whether the head is upward or downward, if it is in one of the postures, it passes at the first timing, If it is a posture, a first step of passing at a second timing different from the first timing;
The shaft-like component that has passed at the first timing is supplied without changing its posture, and the shaft-like component that has passed at the second timing is supplied after reversing its posture. And the process of
A method for supplying a shaft-like component comprising:

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